diff --git a/ChangeLog.md b/ChangeLog.md index cb09904cd7630c99fe61810bdbb702c4dd37d1cf..de9e9c84cc44081dc9de41132a42f1edf5ecc74c 100644 --- a/ChangeLog.md +++ b/ChangeLog.md @@ -6,7 +6,7 @@ Note: This file only contains high level features or important fixes. ### 3.6.0 - Daily Build -* No changes yet +* Major rewrite and bug fix pass through Structure Scan. Previous version had such bad problems that it can no longer be supported. Plans with Structure Scan will need to be recreated. New QGC will not load old Structure Scan plans. ### 3.5.1 - Not yet released * Fix tile set count but in OfflineMaps which would cause image and elevation tile set to have incorrect counts and be incorrectly marked as download incomplete. diff --git a/src/MissionManager/StructureScan.SettingsGroup.json b/src/MissionManager/StructureScan.SettingsGroup.json index ccfdf63c7d34d17cf815a97321affae40d246962..8f3d1b2b6b9ac9b4989133d075837e11da0c9b4c 100644 --- a/src/MissionManager/StructureScan.SettingsGroup.json +++ b/src/MissionManager/StructureScan.SettingsGroup.json @@ -10,8 +10,16 @@ "defaultValue": 0 }, { - "name": "Altitude", - "shortDescription": "Altitude for the bottom layer of the structure scan.", + "name": "EntranceAltitude", + "shortDescription": "Vehicle will fly to/from the structure at this altitude.", + "type": "double", + "units": "m", + "decimalPlaces": 1, + "defaultValue": 50 +}, +{ + "name": "ScanBottomAlt", + "shortDescription": "Altitude for the bottomost covered area of the scan. You can adjust this value such that the Bottom Layer Alt will fly above obstacles on the ground.", "type": "double", "units": "m", "decimalPlaces": 1, @@ -35,7 +43,7 @@ }, { "name": "StartFromTop", - "shortDescription": "Start scan from top of structure.", + "shortDescription": "Start scanning from top of structure.", "type": "bool", "defaultValue": true } diff --git a/src/MissionManager/StructureScanComplexItem.cc b/src/MissionManager/StructureScanComplexItem.cc index 629842eef6e3f003d8702f1a90a16b552092c123..4544f2b7364e88655b174a8ae25b2fed71a99f81 100644 --- a/src/MissionManager/StructureScanComplexItem.cc +++ b/src/MissionManager/StructureScanComplexItem.cc @@ -22,7 +22,8 @@ QGC_LOGGING_CATEGORY(StructureScanComplexItemLog, "StructureScanComplexItemLog") const char* StructureScanComplexItem::settingsGroup = "StructureScan"; -const char* StructureScanComplexItem::altitudeName = "Altitude"; +const char* StructureScanComplexItem::_entranceAltName = "EntranceAltitude"; +const char* StructureScanComplexItem::scanBottomAltName = "ScanBottomAlt"; const char* StructureScanComplexItem::structureHeightName = "StructureHeight"; const char* StructureScanComplexItem::layersName = "Layers"; const char* StructureScanComplexItem::gimbalPitchName = "GimbalPitch"; @@ -30,43 +31,41 @@ const char* StructureScanComplexItem::startFromTopName = "StartFromTo const char* StructureScanComplexItem::jsonComplexItemTypeValue = "StructureScan"; const char* StructureScanComplexItem::_jsonCameraCalcKey = "CameraCalc"; -const char* StructureScanComplexItem::_jsonAltitudeRelativeKey = "altitudeRelative"; StructureScanComplexItem::StructureScanComplexItem(Vehicle* vehicle, bool flyView, const QString& kmlOrShpFile, QObject* parent) : ComplexMissionItem (vehicle, flyView, parent) , _metaDataMap (FactMetaData::createMapFromJsonFile(QStringLiteral(":/json/StructureScan.SettingsGroup.json"), this /* QObject parent */)) , _sequenceNumber (0) - , _dirty (false) - , _altitudeRelative (true) , _entryVertex (0) , _ignoreRecalc (false) , _scanDistance (0.0) , _cameraShots (0) , _cameraCalc (vehicle, settingsGroup) - , _altitudeFact (settingsGroup, _metaDataMap[altitudeName]) + , _scanBottomAltFact (settingsGroup, _metaDataMap[scanBottomAltName]) , _structureHeightFact (settingsGroup, _metaDataMap[structureHeightName]) , _layersFact (settingsGroup, _metaDataMap[layersName]) , _gimbalPitchFact (settingsGroup, _metaDataMap[gimbalPitchName]) , _startFromTopFact (settingsGroup, _metaDataMap[startFromTopName]) + , _entranceAltFact (settingsGroup, _metaDataMap[_entranceAltName]) { _editorQml = "qrc:/qml/StructureScanEditor.qml"; - _altitudeFact.setRawValue(qgcApp()->toolbox()->settingsManager()->appSettings()->defaultMissionItemAltitude()->rawValue()); + _entranceAltFact.setRawValue(qgcApp()->toolbox()->settingsManager()->appSettings()->defaultMissionItemAltitude()->rawValue()); - connect(&_altitudeFact, &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty); - connect(&_layersFact, &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty); - connect(&_gimbalPitchFact, &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty); - connect(&_startFromTopFact, &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty); + connect(&_entranceAltFact, &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty); + connect(&_scanBottomAltFact, &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty); + connect(&_layersFact, &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty); + connect(&_gimbalPitchFact, &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty); + connect(&_startFromTopFact, &Fact::valueChanged, this, &StructureScanComplexItem::_setDirty); + + connect(&_startFromTopFact, &Fact::valueChanged, this, &StructureScanComplexItem::_signalTopBottomAltChanged); + connect(&_layersFact, &Fact::valueChanged, this, &StructureScanComplexItem::_signalTopBottomAltChanged); - connect(&_layersFact, &Fact::valueChanged, this, &StructureScanComplexItem::_recalcLayerInfo); connect(&_structureHeightFact, &Fact::valueChanged, this, &StructureScanComplexItem::_recalcLayerInfo); + connect(&_scanBottomAltFact, &Fact::valueChanged, this, &StructureScanComplexItem::_recalcLayerInfo); connect(_cameraCalc.adjustedFootprintFrontal(), &Fact::valueChanged, this, &StructureScanComplexItem::_recalcLayerInfo); - connect(this, &StructureScanComplexItem::altitudeRelativeChanged, this, &StructureScanComplexItem::_setDirty); - connect(this, &StructureScanComplexItem::altitudeRelativeChanged, this, &StructureScanComplexItem::coordinateHasRelativeAltitudeChanged); - connect(this, &StructureScanComplexItem::altitudeRelativeChanged, this, &StructureScanComplexItem::exitCoordinateHasRelativeAltitudeChanged); - - connect(&_altitudeFact, &Fact::valueChanged, this, &StructureScanComplexItem::_updateCoordinateAltitudes); + connect(&_entranceAltFact, &Fact::valueChanged, this, &StructureScanComplexItem::_updateCoordinateAltitudes); connect(&_structurePolygon, &QGCMapPolygon::dirtyChanged, this, &StructureScanComplexItem::_polygonDirtyChanged); connect(&_structurePolygon, &QGCMapPolygon::pathChanged, this, &StructureScanComplexItem::_rebuildFlightPolygon); @@ -130,9 +129,12 @@ int StructureScanComplexItem::lastSequenceNumber(void) const // Two commands for camera trigger start/stop int layerItemCount = _flightPolygon.count() + 1 + 2; + // Take into account the number of layers int multiLayerItemCount = layerItemCount * _layersFact.rawValue().toInt(); - int itemCount = multiLayerItemCount + 2; // +2 for ROI_WPNEXT_OFFSET and ROI_NONE commands + // +2 for ROI_WPNEXT_OFFSET and ROI_NONE commands + // +2 for entrance/exit waypoints + int itemCount = multiLayerItemCount + 2 + 2; return _sequenceNumber + itemCount - 1; } @@ -150,16 +152,16 @@ void StructureScanComplexItem::save(QJsonArray& missionItems) QJsonObject saveObject; // Header - saveObject[JsonHelper::jsonVersionKey] = 2; + saveObject[JsonHelper::jsonVersionKey] = 3; saveObject[VisualMissionItem::jsonTypeKey] = VisualMissionItem::jsonTypeComplexItemValue; saveObject[ComplexMissionItem::jsonComplexItemTypeKey] = jsonComplexItemTypeValue; - saveObject[altitudeName] = _altitudeFact.rawValue().toDouble(); - saveObject[structureHeightName] = _structureHeightFact.rawValue().toDouble(); - saveObject[_jsonAltitudeRelativeKey] = _altitudeRelative; - saveObject[layersName] = _layersFact.rawValue().toDouble(); - saveObject[gimbalPitchName] = _gimbalPitchFact.rawValue().toDouble(); - saveObject[startFromTopName] = _startFromTopFact.rawValue().toBool(); + saveObject[_entranceAltName] = _entranceAltFact.rawValue().toDouble(); + saveObject[scanBottomAltName] = _scanBottomAltFact.rawValue().toDouble(); + saveObject[structureHeightName] = _structureHeightFact.rawValue().toDouble(); + saveObject[layersName] = _layersFact.rawValue().toDouble(); + saveObject[gimbalPitchName] = _gimbalPitchFact.rawValue().toDouble(); + saveObject[startFromTopName] = _startFromTopFact.rawValue().toBool(); QJsonObject cameraCalcObject; _cameraCalc.save(cameraCalcObject); @@ -186,13 +188,13 @@ bool StructureScanComplexItem::load(const QJsonObject& complexObject, int sequen { VisualMissionItem::jsonTypeKey, QJsonValue::String, true }, { ComplexMissionItem::jsonComplexItemTypeKey, QJsonValue::String, true }, { QGCMapPolygon::jsonPolygonKey, QJsonValue::Array, true }, - { altitudeName, QJsonValue::Double, true }, + { scanBottomAltName, QJsonValue::Double, true }, { structureHeightName, QJsonValue::Double, true }, - { _jsonAltitudeRelativeKey, QJsonValue::Bool, true }, { layersName, QJsonValue::Double, true }, - { gimbalPitchName, QJsonValue::Double, false }, // This value was added after initial implementation so may be missing from older files - { startFromTopName, QJsonValue::Bool, false }, // This value was added after initial implementation so may be missing from older files { _jsonCameraCalcKey, QJsonValue::Object, true }, + { _entranceAltName, QJsonValue::Double, true }, + { gimbalPitchName, QJsonValue::Double, true }, + { startFromTopName, QJsonValue::Bool, true }, }; if (!JsonHelper::validateKeys(complexObject, keyInfoList, errorString)) { return false; @@ -208,8 +210,8 @@ bool StructureScanComplexItem::load(const QJsonObject& complexObject, int sequen } int version = complexObject[JsonHelper::jsonVersionKey].toInt(); - if (version != 2) { - errorString = tr("%1 complex item version %2 not supported").arg(jsonComplexItemTypeValue).arg(version); + if (version != 3) { + errorString = tr("%1 version %2 not supported").arg(jsonComplexItemTypeValue).arg(version); return false; } @@ -220,18 +222,12 @@ bool StructureScanComplexItem::load(const QJsonObject& complexObject, int sequen return false; } - _altitudeFact.setRawValue (complexObject[altitudeName].toDouble()); - _layersFact.setRawValue (complexObject[layersName].toDouble()); - _structureHeightFact.setRawValue(complexObject[structureHeightName].toDouble()); - _startFromTopFact.setRawValue (complexObject[startFromTopName].toBool(false)); // Set the false if doesn't exist, which matches previous functionality prior to setting - - _altitudeRelative = complexObject[_jsonAltitudeRelativeKey].toBool(true); - - double gimbalPitchValue = 0; - if (complexObject.contains(gimbalPitchName)) { - gimbalPitchValue = complexObject[gimbalPitchName].toDouble(); - } - _gimbalPitchFact.setRawValue(gimbalPitchValue); + _scanBottomAltFact.setRawValue (complexObject[scanBottomAltName].toDouble()); + _layersFact.setRawValue (complexObject[layersName].toDouble()); + _structureHeightFact.setRawValue (complexObject[structureHeightName].toDouble()); + _startFromTopFact.setRawValue (complexObject[startFromTopName].toBool()); + _entranceAltFact.setRawValue (complexObject[startFromTopName].toDouble()); + _gimbalPitchFact.setRawValue (complexObject[gimbalPitchName].toDouble()); if (!_structurePolygon.loadFromJson(complexObject, true /* required */, errorString)) { _structurePolygon.clear(); @@ -297,49 +293,74 @@ void StructureScanComplexItem::appendMissionItems(QList& items, QO { int seqNum = _sequenceNumber; bool startFromTop = _startFromTopFact.rawValue().toBool(); - double startAltitude = _altitudeFact.rawValue().toDouble() + (startFromTop ? _structureHeightFact.rawValue().toDouble() : 0); - - MissionItem* item = new MissionItem(seqNum++, - MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET, - MAV_FRAME_MISSION, - 0, 0, 0, 0, // param 1-4 not used - _gimbalPitchFact.rawValue().toDouble(), - 0, // Roll stays in standard orientation - 90, // 90 degreee yaw offset to point to structure - true, // autoContinue - false, // isCurrentItem - missionItemParent); + double startAltitude = _scanBottomAltFact.rawValue().toDouble() + (startFromTop ? _structureHeightFact.rawValue().toDouble() : 0); + + MissionItem* item = nullptr; + + // Entrance waypoint + QGeoCoordinate entranceExitCoord = _flightPolygon.vertexCoordinate(_entryVertex); + item = new MissionItem(seqNum++, + MAV_CMD_NAV_WAYPOINT, + MAV_FRAME_GLOBAL_RELATIVE_ALT, + 0, // No hold time + 0.0, // No acceptance radius specified + 0.0, // Pass through waypoint + std::numeric_limits::quiet_NaN(), // Yaw unchanged + entranceExitCoord.latitude(), + entranceExitCoord.longitude(), + _entranceAltFact.rawValue().toDouble(), + true, // autoContinue + false, // isCurrentItem + missionItemParent); items.append(item); - for (int layer=0; layer<_layersFact.rawValue().toInt(); layer++) { - bool addTriggerStart = true; - double layerIncrement = (_cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble() / 2.0) + (layer * _cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble()); - double layerAltitude; + // Point camera at structure + item = new MissionItem(seqNum++, + MAV_CMD_DO_SET_ROI_WPNEXT_OFFSET, + MAV_FRAME_MISSION, + 0, 0, 0, 0, // param 1-4 not used + _gimbalPitchFact.rawValue().toDouble(), + 0, // Roll stays in standard orientation + 90, // 90 degreee yaw offset to point to structure + true, // autoContinue + false, // isCurrentItem + missionItemParent); + items.append(item); - if (startFromTop) { - layerAltitude = startAltitude - layerIncrement; - } else { - layerAltitude = startAltitude + layerIncrement; - } + // Set up for the first layer + double layerAltitude = startAltitude; + double halfLayerHeight = _cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble() / 2.0; + if (startFromTop) { + layerAltitude -= halfLayerHeight; + } else { + layerAltitude += halfLayerHeight; + } - for (int i=0; i<_flightPolygon.count(); i++) { - QGeoCoordinate vertexCoord = _flightPolygon.vertexCoordinate(i); - - MissionItem* item = new MissionItem(seqNum++, - MAV_CMD_NAV_WAYPOINT, - _altitudeRelative ? MAV_FRAME_GLOBAL_RELATIVE_ALT : MAV_FRAME_GLOBAL, - 0, // No hold time - 0.0, // No acceptance radius specified - 0.0, // Pass through waypoint - std::numeric_limits::quiet_NaN(), // Yaw unchanged - vertexCoord.latitude(), - vertexCoord.longitude(), - layerAltitude, - true, // autoContinue - false, // isCurrentItem - missionItemParent); + for (int layer=0; layer<_layersFact.rawValue().toInt(); layer++) { + bool addTriggerStart = true; + + bool done = false; + int currentVertex = _entryVertex; + int processedVertices = 0; + do { + QGeoCoordinate vertexCoord = _flightPolygon.vertexCoordinate(currentVertex); + + item = new MissionItem(seqNum++, + MAV_CMD_NAV_WAYPOINT, + MAV_FRAME_GLOBAL_RELATIVE_ALT, + 0, // No hold time + 0.0, // No acceptance radius specified + 0.0, // Pass through waypoint + std::numeric_limits::quiet_NaN(), // Yaw unchanged + vertexCoord.latitude(), + vertexCoord.longitude(), + layerAltitude, + true, // autoContinue + false, // isCurrentItem + missionItemParent); items.append(item); + // Start camera triggering after first waypoint in layer if (addTriggerStart) { addTriggerStart = false; item = new MissionItem(seqNum++, @@ -354,25 +375,19 @@ void StructureScanComplexItem::appendMissionItems(QList& items, QO missionItemParent); items.append(item); } - } - QGeoCoordinate vertexCoord = _flightPolygon.vertexCoordinate(0); - - MissionItem* item = new MissionItem(seqNum++, - MAV_CMD_NAV_WAYPOINT, - _altitudeRelative ? MAV_FRAME_GLOBAL_RELATIVE_ALT : MAV_FRAME_GLOBAL, - 0, // No hold time - 0.0, // No acceptance radius specified - 0.0, // Pass through waypoint - std::numeric_limits::quiet_NaN(), // Yaw unchanged - vertexCoord.latitude(), - vertexCoord.longitude(), - layerAltitude, - true, // autoContinue - false, // isCurrentItem - missionItemParent); - items.append(item); + // Move to next vertext + currentVertex++; + if (currentVertex >= _flightPolygon.count()) { + currentVertex = 0; + } + // Have we processed all the vertices + processedVertices++; + done = processedVertices == _flightPolygon.count() + 1; + } while (!done); + + // Stop camera triggering after last waypoint in layer item = new MissionItem(seqNum++, MAV_CMD_DO_SET_CAM_TRIGG_DIST, MAV_FRAME_MISSION, @@ -384,8 +399,16 @@ void StructureScanComplexItem::appendMissionItems(QList& items, QO false, // isCurrentItem missionItemParent); items.append(item); + + // Move to next layer altitude + if (startFromTop) { + layerAltitude -= halfLayerHeight * 2; + } else { + layerAltitude += halfLayerHeight * 2; + } } + // Return camera to neutral position item = new MissionItem(seqNum++, MAV_CMD_DO_SET_ROI_NONE, MAV_FRAME_MISSION, @@ -394,11 +417,28 @@ void StructureScanComplexItem::appendMissionItems(QList& items, QO false, // isCurrentItem missionItemParent); items.append(item); + + // Exit waypoint + item = new MissionItem(seqNum++, + MAV_CMD_NAV_WAYPOINT, + MAV_FRAME_GLOBAL_RELATIVE_ALT, + 0, // No hold time + 0.0, // No acceptance radius specified + 0.0, // Pass through waypoint + std::numeric_limits::quiet_NaN(), // Yaw unchanged + entranceExitCoord.latitude(), + entranceExitCoord.longitude(), + _entranceAltFact.rawValue().toDouble(), + true, // autoContinue + false, // isCurrentItem + missionItemParent); + items.append(item); + } int StructureScanComplexItem::cameraShots(void) const { - return true /*_triggerCamera()*/ ? _cameraShots : 0; + return _cameraShots; } void StructureScanComplexItem::setMissionFlightStatus(MissionController::MissionFlightStatus_t& missionFlightStatus) @@ -417,7 +457,7 @@ void StructureScanComplexItem::_setDirty(void) void StructureScanComplexItem::applyNewAltitude(double newAltitude) { - _altitudeFact.setRawValue(newAltitude); + _entranceAltFact.setRawValue(newAltitude); } void StructureScanComplexItem::_polygonDirtyChanged(bool dirty) @@ -435,8 +475,9 @@ double StructureScanComplexItem::timeBetweenShots(void) QGeoCoordinate StructureScanComplexItem::coordinate(void) const { if (_flightPolygon.count() > 0) { - int entryVertex = qMax(qMin(_entryVertex, _flightPolygon.count() - 1), 0); - return _flightPolygon.vertexCoordinate(entryVertex); + QGeoCoordinate coord = _flightPolygon.vertexCoordinate(_entryVertex); + coord.setAltitude(_entranceAltFact.rawValue().toDouble()); + return coord; } else { return QGeoCoordinate(); } @@ -465,8 +506,21 @@ void StructureScanComplexItem::rotateEntryPoint(void) void StructureScanComplexItem::_rebuildFlightPolygon(void) { + // While this is happening all hell breaks loose signal-wise which can cause a bad vertex reference. + // So we reset to a safe value first and then double check validity when putting it back + int savedEntryVertex = _entryVertex; + _entryVertex = 0; + _flightPolygon = _structurePolygon; _flightPolygon.offset(_cameraCalc.distanceToSurface()->rawValue().toDouble()); + + if (savedEntryVertex >= _flightPolygon.count()) { + _entryVertex = 0; + } else { + _entryVertex = savedEntryVertex; + } + emit coordinateChanged(coordinate()); + emit exitCoordinateChanged(exitCoordinate()); } void StructureScanComplexItem::_recalcCameraShots(void) @@ -498,34 +552,49 @@ void StructureScanComplexItem::_recalcCameraShots(void) _setCameraShots(cameraShots * _layersFact.rawValue().toInt()); } -void StructureScanComplexItem::setAltitudeRelative(bool altitudeRelative) +void StructureScanComplexItem::_recalcLayerInfo(void) +{ + double surfaceHeight = qMax(_structureHeightFact.rawValue().toDouble() - _scanBottomAltFact.rawValue().toDouble(), 0.0); + + // Layer count is calculated from surface and layer heights + _layersFact.setRawValue(qMax(qCeil(surfaceHeight / _cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble()), 1)); +} + +void StructureScanComplexItem::_updateGimbalPitch(void) { - if (altitudeRelative != _altitudeRelative) { - _altitudeRelative = altitudeRelative; - emit altitudeRelativeChanged(altitudeRelative); + if (!_cameraCalc.isManualCamera()) { + _gimbalPitchFact.setRawValue(0); } } -void StructureScanComplexItem::_recalcLayerInfo(void) +double StructureScanComplexItem::bottomFlightAlt(void) { - if (_cameraCalc.isManualCamera()) { - // Structure height is calculated from layer count, layer height. - _structureHeightFact.setSendValueChangedSignals(false); - _structureHeightFact.setRawValue(_layersFact.rawValue().toInt() * _cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble()); - _structureHeightFact.clearDeferredValueChangeSignal(); - _structureHeightFact.setSendValueChangedSignals(true); + if (_startFromTopFact.rawValue().toBool()) { + // Structure Height minus the topmost layers + double layerIncrement = (_cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble() / 2.0) + ((_layersFact.rawValue().toInt() - 1) * _cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble()); + return _structureHeightFact.rawValue().toDouble() - layerIncrement; } else { - // Layer count is calculated from structure and layer heights - _layersFact.setSendValueChangedSignals(false); - _layersFact.setRawValue(qCeil(_structureHeightFact.rawValue().toDouble() / _cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble())); - _layersFact.clearDeferredValueChangeSignal(); - _layersFact.setSendValueChangedSignals(true); + // Bottom alt plus half the height of a layer + double layerIncrement = _cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble() / 2.0; + return _scanBottomAltFact.rawValue().toDouble() + layerIncrement; } } -void StructureScanComplexItem::_updateGimbalPitch(void) +double StructureScanComplexItem:: topFlightAlt(void) { - if (!_cameraCalc.isManualCamera()) { - _gimbalPitchFact.setRawValue(0); + if (_startFromTopFact.rawValue().toBool()) { + // Structure Height minus half the layer height + double layerIncrement = _cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble() / 2.0; + return _structureHeightFact.rawValue().toDouble() - layerIncrement; + } else { + // Bottom alt plus all layers + double layerIncrement = (_cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble() / 2.0) + ((_layersFact.rawValue().toInt() - 1) * _cameraCalc.adjustedFootprintFrontal()->rawValue().toDouble()); + return _scanBottomAltFact.rawValue().toDouble() + layerIncrement; } } + +void StructureScanComplexItem::_signalTopBottomAltChanged(void) +{ + emit topFlightAltChanged(); + emit bottomFlightAltChanged(); +} diff --git a/src/MissionManager/StructureScanComplexItem.h b/src/MissionManager/StructureScanComplexItem.h index 810a6dae02720616e634b1d92f36becce08b35ac..ce0dcb92890252739d81f70fca022ace113eae9b 100644 --- a/src/MissionManager/StructureScanComplexItem.h +++ b/src/MissionManager/StructureScanComplexItem.h @@ -31,32 +31,34 @@ public: StructureScanComplexItem(Vehicle* vehicle, bool flyView, const QString& kmlOrSHPFile, QObject* parent); Q_PROPERTY(CameraCalc* cameraCalc READ cameraCalc CONSTANT) - Q_PROPERTY(Fact* altitude READ altitude CONSTANT) + Q_PROPERTY(Fact* entranceAlt READ entranceAlt CONSTANT) Q_PROPERTY(Fact* structureHeight READ structureHeight CONSTANT) + Q_PROPERTY(Fact* scanBottomAlt READ scanBottomAlt CONSTANT) Q_PROPERTY(Fact* layers READ layers CONSTANT) Q_PROPERTY(Fact* gimbalPitch READ gimbalPitch CONSTANT) Q_PROPERTY(Fact* startFromTop READ startFromTop CONSTANT) - Q_PROPERTY(bool altitudeRelative READ altitudeRelative WRITE setAltitudeRelative NOTIFY altitudeRelativeChanged) + Q_PROPERTY(double bottomFlightAlt READ bottomFlightAlt NOTIFY bottomFlightAltChanged) + Q_PROPERTY(double topFlightAlt READ topFlightAlt NOTIFY topFlightAltChanged) Q_PROPERTY(int cameraShots READ cameraShots NOTIFY cameraShotsChanged) Q_PROPERTY(double timeBetweenShots READ timeBetweenShots NOTIFY timeBetweenShotsChanged) Q_PROPERTY(QGCMapPolygon* structurePolygon READ structurePolygon CONSTANT) Q_PROPERTY(QGCMapPolygon* flightPolygon READ flightPolygon CONSTANT) CameraCalc* cameraCalc (void) { return &_cameraCalc; } - Fact* altitude (void) { return &_altitudeFact; } + Fact* entranceAlt (void) { return &_entranceAltFact; } + Fact* scanBottomAlt (void) { return &_scanBottomAltFact; } Fact* structureHeight (void) { return &_structureHeightFact; } Fact* layers (void) { return &_layersFact; } Fact* gimbalPitch (void) { return &_gimbalPitchFact; } Fact* startFromTop (void) { return &_startFromTopFact; } - bool altitudeRelative (void) const { return _altitudeRelative; } + double bottomFlightAlt (void); + double topFlightAlt (void); int cameraShots (void) const; double timeBetweenShots (void); QGCMapPolygon* structurePolygon (void) { return &_structurePolygon; } QGCMapPolygon* flightPolygon (void) { return &_flightPolygon; } - void setAltitudeRelative (bool altitudeRelative); - Q_INVOKABLE void rotateEntryPoint(void); // Overrides from ComplexMissionItem @@ -88,8 +90,8 @@ public: void applyNewAltitude (double newAltitude) final; double additionalTimeDelay (void) const final { return 0; } - bool coordinateHasRelativeAltitude (void) const final { return _altitudeRelative; } - bool exitCoordinateHasRelativeAltitude (void) const final { return _altitudeRelative; } + bool coordinateHasRelativeAltitude (void) const final { return true; } + bool exitCoordinateHasRelativeAltitude (void) const final { return true; } bool exitCoordinateSameAsEntry (void) const final { return true; } void setDirty (bool dirty) final; @@ -100,7 +102,7 @@ public: static const char* jsonComplexItemTypeValue; static const char* settingsGroup; - static const char* altitudeName; + static const char* scanBottomAltName; static const char* structureHeightName; static const char* layersName; static const char* gimbalPitchName; @@ -109,7 +111,8 @@ public: signals: void cameraShotsChanged (int cameraShots); void timeBetweenShotsChanged (void); - void altitudeRelativeChanged (bool altitudeRelative); + void bottomFlightAltChanged (void); + void topFlightAltChanged (void); private slots: void _setDirty(void); @@ -122,6 +125,7 @@ private slots: void _recalcLayerInfo (void); void _updateLastSequenceNumber (void); void _updateGimbalPitch (void); + void _signalTopBottomAltChanged (void); private: void _setExitCoordinate(const QGeoCoordinate& coordinate); @@ -132,10 +136,8 @@ private: QMap _metaDataMap; int _sequenceNumber; - bool _dirty; QGCMapPolygon _structurePolygon; QGCMapPolygon _flightPolygon; - bool _altitudeRelative; int _entryVertex; // Polygon vertext which is used as the mission entry point bool _ignoreRecalc; @@ -146,14 +148,16 @@ private: CameraCalc _cameraCalc; - SettingsFact _altitudeFact; + SettingsFact _scanBottomAltFact; SettingsFact _structureHeightFact; SettingsFact _layersFact; SettingsFact _gimbalPitchFact; SettingsFact _startFromTopFact; + SettingsFact _entranceAltFact; static const char* _jsonCameraCalcKey; - static const char* _jsonAltitudeRelativeKey; + + static const char* _entranceAltName; // This value cannot be overriden friend class StructureScanComplexItemTest; }; diff --git a/src/MissionManager/StructureScanComplexItemTest.cc b/src/MissionManager/StructureScanComplexItemTest.cc index 17fc257bd161740329f1fbfa4e02c6ed376bfdce..22882e973436ce035ffbfdf1d5f4fe2ece7ce589 100644 --- a/src/MissionManager/StructureScanComplexItemTest.cc +++ b/src/MissionManager/StructureScanComplexItemTest.cc @@ -11,7 +11,7 @@ #include "QGCApplication.h" StructureScanComplexItemTest::StructureScanComplexItemTest(void) - : _offlineVehicle(NULL) + : _offlineVehicle(nullptr) { _polyPoints << QGeoCoordinate(47.633550640000003, -122.08982199) << QGeoCoordinate(47.634129020000003, -122.08887249) << QGeoCoordinate(47.633619320000001, -122.08811074) << QGeoCoordinate(47.633189139999999, -122.08900124); @@ -59,7 +59,7 @@ void StructureScanComplexItemTest::_testDirty(void) // These facts should set dirty when changed QList rgFacts; - rgFacts << _structureScanItem->altitude() << _structureScanItem->layers(); + rgFacts << _structureScanItem->entranceAlt() << _structureScanItem->layers(); for(Fact* fact: rgFacts) { qDebug() << fact->name(); QVERIFY(!_structureScanItem->dirty()); @@ -74,13 +74,6 @@ void StructureScanComplexItemTest::_testDirty(void) _multiSpy->clearAllSignals(); } rgFacts.clear(); - - QVERIFY(!_structureScanItem->dirty()); - _structureScanItem->setAltitudeRelative(!_structureScanItem->altitudeRelative()); - QVERIFY(_multiSpy->checkSignalByMask(dirtyChangedMask)); - QVERIFY(_multiSpy->pullBoolFromSignalIndex(dirtyChangedIndex)); - _structureScanItem->setDirty(false); - _multiSpy->clearAllSignals(); } void StructureScanComplexItemTest::_initItem(void) diff --git a/src/PlanView/StructureScanEditor.qml b/src/PlanView/StructureScanEditor.qml index 827a6a5dfff0c69d6b5689a64a6c8fe6054b10a2..380ef8f0ee7b8bcb619f245a20d19b945088669e 100644 --- a/src/PlanView/StructureScanEditor.qml +++ b/src/PlanView/StructureScanEditor.qml @@ -109,33 +109,27 @@ Rectangle { } QGCLabel { - text: qsTr("Structure height") - visible: !missionItem.cameraCalc.isManualCamera + text: qsTr("Structure Height") } FactTextField { fact: missionItem.structureHeight Layout.fillWidth: true - visible: !missionItem.cameraCalc.isManualCamera } - QGCLabel { - text: qsTr("# Layers") - visible: missionItem.cameraCalc.isManualCamera - } + QGCLabel { text: qsTr("Scan Bottom Alt") } FactTextField { - fact: missionItem.layers + fact: missionItem.scanBottomAlt Layout.fillWidth: true - visible: missionItem.cameraCalc.isManualCamera } - QGCLabel { text: qsTr("Bottom layer alt") } + QGCLabel { text: qsTr("Entrance/Exit Alt") } FactTextField { - fact: missionItem.altitude + fact: missionItem.entranceAlt Layout.fillWidth: true } QGCLabel { - text: qsTr("Gimbal pitch") + text: qsTr("Gimbal Pitch") visible: missionItem.cameraCalc.isManualCamera } FactTextField { @@ -143,13 +137,6 @@ Rectangle { Layout.fillWidth: true visible: missionItem.cameraCalc.isManualCamera } - - QGCCheckBox { - text: qsTr("Relative altitude") - checked: missionItem.altitudeRelative - Layout.columnSpan: 2 - onClicked: missionItem.altitudeRelative = checked - } } Item { @@ -176,16 +163,22 @@ Rectangle { QGCLabel { text: qsTr("Layers") } QGCLabel { text: missionItem.layers.valueString } - QGCLabel { text: qsTr("Layer height") } + QGCLabel { text: qsTr("Layer Height") } QGCLabel { text: missionItem.cameraCalc.adjustedFootprintFrontal.valueString + " " + QGroundControl.appSettingsDistanceUnitsString } - QGCLabel { text: qsTr("Photo count") } + QGCLabel { text: qsTr("Top Layer Alt") } + QGCLabel { text: QGroundControl.metersToAppSettingsDistanceUnits(missionItem.topFlightAlt).toFixed(1) + " " + QGroundControl.appSettingsDistanceUnitsString } + + QGCLabel { text: qsTr("Bottom Layer Alt") } + QGCLabel { text: QGroundControl.metersToAppSettingsDistanceUnits(missionItem.bottomFlightAlt).toFixed(1) + " " + QGroundControl.appSettingsDistanceUnitsString } + + QGCLabel { text: qsTr("Photo Count") } QGCLabel { text: missionItem.cameraShots } - QGCLabel { text: qsTr("Photo interval") } + QGCLabel { text: qsTr("Photo Interval") } QGCLabel { text: missionItem.timeBetweenShots.toFixed(1) + " " + qsTr("secs") } - QGCLabel { text: qsTr("Trigger distance") } + QGCLabel { text: qsTr("Trigger Distance") } QGCLabel { text: missionItem.cameraCalc.adjustedFootprintSide.valueString + " " + QGroundControl.appSettingsDistanceUnitsString } } } // Column